////////////////////////////////////////////////////////////////////////////////
// Copyright 2021 FZI Research Center for Information Technology
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
// 1. Redistributions of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// 2. Redistributions in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// 3. Neither the name of the copyright holder nor the names of its
// contributors may be used to endorse or promote products derived from this
// software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.
////////////////////////////////////////////////////////////////////////////////


//-----------------------------------------------------------------------------
/*!\file    pass_through_controllers.cpp
 *
 * \author  Stefan Scherzinger <scherzin@fzi.de>
 * \date    2020/10/13
 *
 */
//-----------------------------------------------------------------------------

// Pluginlib
#include <pluginlib/class_list_macros.h>

// Project
#include <pass_through_controllers/pass_through_controllers.h>

// Exports

namespace joint_trajectory_controllers {

using PassThroughController =
  trajectory_controllers::PassThroughController<hardware_interface::JointTrajectoryInterface>;
}

namespace cartesian_trajectory_controllers {

using PassThroughController =
  trajectory_controllers::PassThroughController<hardware_interface::CartesianTrajectoryInterface>;
}

PLUGINLIB_EXPORT_CLASS(joint_trajectory_controllers::PassThroughController,
                       controller_interface::ControllerBase)

PLUGINLIB_EXPORT_CLASS(cartesian_trajectory_controllers::PassThroughController,
                       controller_interface::ControllerBase)
